Vehicular control system with collision avoidance

ABSTRACT

A vehicular control system includes a first communication device disposed at a first vehicle, a second communication device disposed at a second vehicle, a camera disposed at the second vehicle, and an electronic control unit (ECU) of the second vehicle. The vehicular control system determines a potential collision between the first vehicle and the second vehicle based at least in part on (i) a wireless communication received at the second communication device from the first communication device and provided to the ECU of the second vehicle and/or (ii) processing at the ECU of image data captured by the camera disposed at the second vehicle. Responsive to determination of the potential collision between the first vehicle and the second vehicle, the vehicular control system controls (i) braking of the second vehicle and/or (ii) steering of the second vehicle.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 16/504,395, filed Jul. 8, 2019, now U.S. Pat. No. 11,138,883,which is a continuation of U.S. patent application Ser. No. 15/832,801,filed Dec. 6, 2017, now U.S. Pat. No. 10,347,129, which claims thefiling benefits of U.S. provisional application Ser. No. 62/431,083,filed Dec. 7, 2016, which is hereby incorporated herein by reference inits entirety.

FIELD OF THE INVENTION

The present invention relates generally to a sensing or communicationsystem for a vehicle and, more particularly, to a vehicle sensing orcommunication system that utilizes one or more sensors at a vehicle andthat utilizes a communication device to communicate with other vehicles.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

Recently developed Dedicated Short Range Communication (DSRC) radiotechnology (as known in the art) enables communications-based activesafety systems. Communication links for such applications need to bereliable, high speed, low latency links that are immune to extremeweather conditions and that work reliably in high speed mobilityconditions and multipath roadway environments.

In 2012, there were 3,921 people killed and 104,000 people injured incrashes involving large trucks. In the United States, 333,000 largetrucks were involved in traffic crashes during 2012. According to manyinsurance carriers, in over 90 percent of right turn squeeze situations,either the truck driver is cited for unsafe turning or even without acitation issued, the trucking company still must pay for the damage tothe other vehicle. Because of the length of the truck, if the truckdriver or the other vehicle driver misjudge the path of travel of theinside tire, the vehicles end up in a crash. Right turns are typically aproblem for trucks. Accidents can occur when other vehicles squeeze intothe area along the right side of the truck. The other vehicle may beattempting to pass on the right or make a right turn inside of the turnof the truck.

SUMMARY OF THE INVENTION

The present invention provides a driver assistance system for a vehiclethat utilizes one or more sensors (such as a camera of the vehicle) anduses a dedicated short range communication (DSRC) radio of the vehicleto communicate to a DSRC radio of another vehicle. The communicationsystem for vehicles comprises a first communication device disposed at afirst vehicle and wirelessly transmitting data indicative of a path oftravel of the first vehicle, and a second communication device disposedat a second vehicle and receiving the transmitted data from the firstcommunication device of the first vehicle. A control is operable toprocess data received from the first communication device and dataindicative of a projected path of travel of the second vehicle todetermine a potential collision between the first and second vehicles.Responsive to determination of a likelihood of collision between thefirst and second vehicles, the control generates an alert to a driver ofthe second vehicle.

Optionally, the first vehicle may be a truck and the second vehicle maybe a vehicle or car at or near the truck when the truck is about tocommence a turning maneuver. Optionally, the second vehicle may be atruck and the first vehicle may be a vehicle or car at or near the truckwhen the truck is about to commence a turning maneuver.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic of a truck wheel path of the inside tire during aturning maneuver of a truck;

FIG. 2 is a schematic showing a truck outer wheel overhang path during aturning maneuver of a truck;

FIG. 3 is a block diagram showing a communication system having a DSRCradio with turn alert and brake system control installed in a truck inaccordance with the present invention;

FIG. 4 is a block diagram showing a communication system having a DSRCradio with turn alert and brake system control installed in a vehicle inaccordance with the present invention;

FIG. 5 is a schematic showing an expected truck's path during a turningmaneuver that may collide with a vehicle in a lane adjacent to the truckand inside of the truck's turn;

FIG. 6 is an expected truck's turning path during a turning maneuverthat may collide with a vehicle;

FIG. 7 is a data flow diagram of an algorithm in the truck in accordancewith the present invention; and

FIG. 8 is a data flow diagram of an algorithm executed in the vehicle inaccordance with the present invention.

LEGEND

100—Truck equipped with 101

101—DSRC radio with turn alert and brake system installed in the truck

102—Path of the truck inner tire

103—DSRC radio with turn alert and brake system installed in the car

104—Car equipped with 103

105—DSRC antenna part of 101

106—DSRC radio part of 101

107—Electronic Control Unit (ECU) part of 101

108—Human Machine Interface (HMI) part of 101

109—Brake control module part of 101

110—Steering control module part of 101

111—DSRC antenna part of 103

112—DSRC radio part of 103

113—Electronic Control Unit (ECU)

114 a—HMI module part of 103

114 b—Brake module part of 103

114 c—Steering module part of 103

115—Windshield camera module part of 103

116—Car data via DSRC radio module

117—Target Object Selection module

118—Truck data from vehicle bus

119—Collision probability estimation, alert or braking determinationpart of car

120—Truck path prediction module

121—Truck data via DSRC radio & camera data

122—Car data via CAN or Flexray etc.

123—Car path prediction

124—Collision probability estimation, alert or braking determinationpart of the truck system

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle driver assist system and/or object detection system and/oralert system operates to capture images exterior of the vehicle and mayprocess the captured image data to display images and to detect objectsat or near the vehicle and in the predicted path of the vehicle, such asto assist a driver of the vehicle in maneuvering the vehicle in arearward direction. The vision system includes an image processor orimage processing system that is operable to receive image data from oneor more cameras and provide an output to a display device for displayingimages representative of the captured image data. Optionally, the visionsystem may provide display, such as a rearview display or a top down orbird's eye or surround view display or the like.

The present invention provides an alert or vehicle control system thatfunctions to reduce or avoid collisions between a truck and a vehicle orcar, such as when a truck is making a right hand turn with the othervehicle at the right side of the truck or in the street onto which thetruck is turning. Because of the length of the truck, during a turn theinside tire of the truck takes the path as shown in FIGS. 1 and 2, andif the truck driver or other vehicle driver misjudge the path of travelof the inside tire, the vehicles may collide. In the U.S., right turnsare a frequent problem for trucks, and accidents can occur when othervehicles squeeze into the area along the right side of the truck. Theother vehicle may be attempting to pass on the right or make a rightturn inside of the turn of the truck.

The present invention is applicable to trucks, such as are used fortransporting freight. A truck, as the term is used herein, comprisestractor-trailer trucks or semi-trucks (having a cab and a multi-axletrailer) classified in Class 7, 8 or 9 (U.S. Commercial Truck GVWRclassifications). Thus, as an example, a truck (as the term is usedherein) may comprise a Class 8 tractor-trailer or “18-wheeler” truckhaving a gross vehicle weight rating above 33,000 lbs.

Referring now to the drawings and the illustrative embodiments depictedtherein, a truck 100 (FIG. 3), such as a semi-truck with a long trailer,is equipped with a communication system 101 with a turn alert and abrake system control module. The communication system 101 includes aDSRC radio 106 and a DSRC antenna 105, with the DSRC radio 106communicating with an Electronic Control Unit (ECU) 107. The ECU 107 isin communication (such as wired or wireless communication) with avehicle bus of the truck 100, and communicates with a Human MachineInterface (HMI) 108, a brake control module 109 and a steering controlmodule 110 of the communication system 101.

As shown in FIG. 4, a vehicle 104 (such as a car or small vehiclerelative to the truck 100) is equipped with a communication system 103,which includes a DSRC radio 112 and a DSRC antenna 111, with the DSRCradio 112 communicating with an Electronic Control Unit (ECU) 113. Aforward facing camera 115 is disposed at the vehicle (such as at andbehind and viewing through the windshield of the vehicle) and is also incommunication with the ECU 113. The ECU 113 is in communication (such aswired or wireless communication) with a vehicle bus of the vehicle 104,and communicates with a Human Machine Interface (HMI) 114 a, a brakecontrol module 114 b and a steering control module 114 c of thecommunication system 103. The determination of a potential collision maybe based at least in part on the communicated data, the predicted pathsof travel of the vehicle and truck, and processing of image datacaptured by the forward viewing camera (such as for situations of thetypes shown in FIGS. 5 and 6).

In one embodiment (such as shown in FIG. 3), the truck ECU 107 receivesvehicle data from the other vehicle 104 via a DSRC link (between theradio 112 and antenna 111 and the radio 106 and antenna 105) andpredicts the vehicle path and estimates the truck's path predictionutilizing the truck's vehicle data. A collision estimator of the truckutilizes the predicted path of the truck and the predicted path of thevehicle and estimates the collision probability. If the collisionprobability exceeds a threshold level, the system alerts the driver ofthe truck (utilizing the HMI interface 108) of the potential collision.Optionally, if the probability of collision exceeds a second thresholdlevel (which is representative of a greater probability of imminentcollision), the system 101 may activate the brakes of the truck and/ormay control the steering of the truck to avoid or prevent collision withthe nearby vehicle. Optionally, the determination of the probability ofcollision may be based at least in part on processing of image datacaptured by a camera of the truck, such as a forward viewing camera(such as disposed at and viewing through a windshield of the cab of thetruck for viewing forward so as to capture image data of a vehicle orscene ahead of the truck, such as for situations of the type shown inFIG. 6) or a sideward viewing camera (such as disposed at a side of thecab or trailer of the truck and viewing sideward and/or rearward and/orforward so as to encompass a location where a vehicle may be present asthe truck turns in front of the vehicle, such as for situations of thetype shown in FIG. 5).

Thus, and such as shown in FIG. 7, the truck system may receive thevehicle data via the DSRC radio at 116 and may select the target objectat 117. The truck data is received from the vehicle bus at 118 and thesystem determines or predicts a path of travel of the truck at 120. Thesystem determines or estimates the probability of collision at 119, anddetermines if an alert is sufficient or if braking or steering is neededto assist in avoiding collision with the vehicle. The system may thengenerate an output to the HMI module 108 and/or the brake module 109and/or the steering system 110 to alert the truck driver and/or controlor maneuver the truck to avoid collision with the vehicle.

Optionally, and such as shown in FIG. 4, a vehicle ECU 113 of the car orvehicle 104 receives the truck data from the truck via a DSRC link(between the radio 106 and antenna 105 and the radio 112 and antenna111) and predicts the truck's path and estimates the vehicle's pathprediction utilizing the vehicle's vehicle data. A collision estimatorof the vehicle utilizes the predicted path of the truck and thepredicted path of the vehicle and estimates the collision probability.If the collision probability exceeds a threshold level, the systemalerts the driver of the vehicle (utilizing the HMI interface 114 a) ofthe potential collision. Optionally, if the probability of collisionexceeds a second threshold level (which is representative of a greaterprobability of imminent collision), the system 103 may activate thebrakes of the vehicle and/or may control the steering of the vehicle toavoid or prevent collision with the nearby truck.

Thus, and such as shown in FIG. 8, the vehicle system may receive thetruck data via the DSRC radio at 121 and may determine or predict thetruck path of travel at 120. The vehicle data is received at 122 and thesystem determines or predicts a path of travel of the vehicle at 123.The system determines or estimates the probability of collision at 124,and determines if an alert is sufficient or if braking or steering isneeded to assist in avoiding collision with the truck. The system maythen generate an output to the HMI module 114 a and/or the brake module114 b and/or the steering system 114 c to alert the vehicle driverand/or control or maneuver the vehicle to avoid collision with thetruck.

Therefore, the present invention comprises a vehicle system thatutilizes a DSRC communication to transmit or communicate vehicle ortruck information or data (indicative of a predicted or projected pathof travel of the vehicle or truck) to a system or processor of anothervehicle, where the system or processor of the other vehicle may, basedon its own projected path of travel, determine if there may be acollision with the vehicle or truck. Thus, if a truck-based systemreceives a short range communication from a nearby vehicle system and,responsive to processing of vehicle data received from the vehiclesystem and responsive to truck data indicative of the projected path ofthe truck, the system may determine if the truck (such as if turning ina direction towards the side of the truck at which the vehicle islocated) may collide with the vehicle during the turning maneuver. Ifsuch a potential collision is determined likely to occur, the system mayalert the driver of the truck and/or may maneuver or control the truck(such as by controlling the steering of the truck and/or the brakesystem of the truck) to avoid collision with the vehicle.

Optionally, if a vehicle-based system receives a short rangecommunication from a nearby truck system and, responsive to processingof truck data received from the truck system and responsive to vehicledata indicative of the projected path of the vehicle, the system maydetermine if the truck (such as if the truck is turning in a directiontowards the side of the truck at which the vehicle is located) maycollide with the vehicle during the turning maneuver. If such apotential collision is determined likely to occur, the system may alertthe driver of the vehicle and/or may maneuver or control the vehicle(such as by controlling the steering of the vehicle and/or the brakesystem of the vehicle) to avoid collision with the turning truck.

Optionally, the communication between the car and truck may compriseother communication means or protocols, such as via car2car or vehicleto vehicle (V2V) and vehicle-to-infrastructure (car2X or V2X or V2I or4G or 5G a broadband cellular network) technology or the like.Optionally, the system may also communicate with other systems, such asvia a vehicle-to-vehicle communication system or avehicle-to-infrastructure communication system or the like. Such car2caror vehicle to vehicle (V2V) and vehicle-to-infrastructure (car2X or V2Xor V2I or 4G or 5G a broadband cellular network) technology provides forcommunication between vehicles and/or infrastructure based oninformation provided by one or more vehicles and/or information providedby a remote server or the like. Such vehicle communication systems mayutilize aspects of the systems described in U.S. Pat. Nos. 6,690,268;6,693,517 and/or 7,580,795, and/or U.S. Publication Nos.US-2017-0254873; US-2017-0158133; US-2014-0375476; US-2014-0218529;US-2013-0222592; US-2012-0218412; US-2012-0062743: US-2015-0251599;US-2015-0158499; US-2015-0124096; US-2015-0352953; US-2016-0036917and/or US-2016-0210853, which are hereby incorporated herein byreference in theft entireties.

The system may utilize sensors, such as radar or lidar sensors or thelike. The sensing system may utilize aspects of the systems described inU.S. Pat. Nos. 8,027,029; 8,013,780; 6,825,455; 7,053,357; 7,408,627;7,405,812; 7,379,163; 7,379,100; 7,375,803; 7,352,454; 7,340,077;7,321,111; 7,310,431; 7,283,213; 7,212,663; 7,203,356; 7,176,438;7,157,685; 6,919,549; 6,906,793; 6,876,775; 6,710,770; 6,690,354;6,678,039; 6,674,895 and/or 6,587,186, and/or International PublicationNo. WO 2011/090484 and/or U.S. Publication No. US-2010-0245066, whichare hereby incorporated herein by reference in their entireties.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2013/081984 and/or WO 2013/081985,which are hereby incorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise animage processing chip selected from the EYEQ family of image processingchips available from Mobileye Vision Technologies Ltd. of Jerusalem,Israel, and may include object detection software (such as the typesdescribed in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or 7,038,577, whichare hereby incorporated herein by reference in their entireties), andmay analyze image data to detect vehicles and/or other objects.Responsive to such image processing, and when an object or other vehicleis detected, the system may generate an alert to the driver of thevehicle and/or may generate an overlay at the displayed image tohighlight or enhance display of the detected object or vehicle, in orderto enhance the driver's awareness of the detected object or vehicle orhazardous condition during a driving maneuver of the equipped vehicle.

The camera system or camera module of the present invention may utilizeaspects of the systems and/or modules described in InternationalPublication Nos. WO 2013/123161 and/or WO 2013/019795, and/or U.S. Pat.Nos. 8,256,821; 7,480,149; 7,289,037; 7,004,593; 6,824,281; 6,690,268;6,445,287; 6,428,172; 6,420,975; 6,326,613; 6,278,377; 6,243,003;6,250,148; 6,172,613 and/or 6,087,953, and/or U.S. Publication Nos.US-2015-0327398; US-2014-0226012 and/or US-2009-0295181, which are allhereby incorporated herein by reference in their entireties. Optionally,the vision system may include a plurality of exterior facing imagingsensors or cameras, such as a rearward facing imaging sensor or camera,a forwardly facing camera at the front of the vehicle, andsideward/rearward facing cameras at respective sides of the vehicle,which capture image data representative of the scene exterior of thevehicle.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 9,233,641;9,146,898; 9,174,574; 9,090,234; 9,077,098; 8,818,042; 8,886,401;9,077,962; 9,068,390; 9,140,789; 9,092,986; 9,205,776; 8,917,169;8,694,224; 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935;6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229;7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287;5,929,786 and/or 5,786,772, and/or U.S. Publication Nos.US-2014-0340510; US-2014-0313339; US-2014-0347486; US-2014-0320658;US-2014-0336876; US-2014-0307095; US-2014-0327774; US-2014-0327772;US-2014-0320636; US-2014-0293057; US-2014-0309884; US-2014-0226012;US-2014-0293042; US-2014-0218535; US-2014-0218535; US-2014-0247354;US-2014-0247355; US-2014-0247352; US-2014-0232869; US-2014-0211009;US-2014-0160276; US-2014-0168437; US-2014-0168415; US-2014-0160291;US-2014-0152825; US-2014-0139676; US-2014-0138140; US-2014-0104426;US-2014-0098229; US-2014-0085472; US-2014-0067206; US-2014-0049646;US-2014-0052340; US-2014-0025240; US-2014-0028852; US-2014-005907;US-2013-0314503; US-2013-0298866; US-2013-0222593; US-2013-0300869;US-2013-0278769; US-2013-0258077; US-2013-0258077; US-2013-0242099;US-2013-0215271; US-2013-0141578 and/or US-2013-0002873, which are allhereby incorporated herein by reference in their entireties. The systemmay communicate with other communication systems via any suitable means,such as by utilizing aspects of the systems described in InternationalPublication Nos. WO 2010/144900; WO 2013/043661 and/or WO 2013/081985,and/or U.S. Pat. No. 9,126,525, which are hereby incorporated herein byreference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device, such as by utilizing aspects of the video displaysystems described in U.S. Pat. Nos. 5,530,240; 6,329,925; 7,855,755;7,626,749; 7,581,859; 7,446,650; 7,338,177; 7,274,501; 7,255,451;7,195,381; 7,184,190; 5,668,663; 5,724,187; 6,690,268; 7,370,983;7,329,013; 7,308,341; 7,289,037; 7,249,860; 7,004,593; 4,546,551;5,699,044; 4,953,305; 5,576,687; 5,632,092; 5,677,851; 5,708,410;5,737,226; 5,802,727; 5,878,370; 6,087,953; 6,173,508; 6,222,460;6,513,252 and/or 6,642,851, and/or U.S. Publication Nos.US-2012-0162427; US-2006-0050018 and/or US-2006-0061008, which are allhereby incorporated herein by reference in their entireties. Optionally,the vision system (utilizing the forward facing camera and a rearwardfacing camera and other cameras disposed at the vehicle with exteriorfields of view) may be part of or may provide a display of a top-downview or bird's-eye view system of the vehicle or a surround view at thevehicle, such as by utilizing aspects of the vision systems described inInternational Publication Nos. WO 2010/099416; WO 2011/028686; WO2012/075250; WO 2013/019795; WO 2012/075250; WO 2012/145822; WO2013/081985; WO 2013/086249 and/or WO 2013/109869, and/or U.S.Publication No. US-2012-0162427, which are hereby incorporated herein byreference in their entireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

1. A vehicular control system, the vehicular control system comprising:a first communication device disposed at a first vehicle, the firstcommunication device wirelessly transmitting data indicative of a pathof travel of the first vehicle; a second communication device disposedat a second vehicle, the second communication device receiving thewirelessly transmitted data from the first communication device; whereinthe second vehicle comprises a truck comprising a cab and a multi-axletrailer; a camera disposed at the second vehicle and viewing exteriorthe second vehicle, the camera operable to capture image data; anelectronic control unit (ECU) of the second vehicle, wherein the ECUcomprises an image processor that processes image data capture by thecamera; wherein the vehicular control system determines a potentialcollision between the first vehicle and the second vehicle based atleast in part on at least one selected from the group consisting of (i)a wireless communication received at the second communication device ofthe second vehicle from the first communication device of the firstvehicle and provided to the ECU of the second vehicle and (ii)processing at the ECU of image data captured by the camera disposed atthe second vehicle; and wherein, responsive to determination of thepotential collision between the first vehicle and the second vehicle,the vehicular control system controls at least one selected from thegroup consisting of (i) braking of the second vehicle and (ii) steeringof the second vehicle.
 2. The vehicular control system of claim 1,wherein the vehicular control system processes the data indicative ofthe path of travel of the first vehicle and processes data indicative ofa path of travel of the second vehicle to determine if the path oftravel of the first vehicle will intersect the path of travel of thesecond vehicle.
 3. The vehicular control system of claim 2, wherein thevehicular control system determines the potential collision between thefirst vehicle and the second vehicle when the first vehicle is making aturning maneuver into the path of travel of the second vehicle.
 4. Thevehicular control system of claim 2, wherein the vehicular controlsystem determines the potential collision between the first vehicle andthe second vehicle when the first vehicle is making a turning maneuvertowards a region occupied by the second vehicle.
 5. The vehicularcontrol system of claim 2, wherein the path of travel of the firstvehicle is determined based at least in part on a current steering angleof the first vehicle.
 6. The vehicular control system of claim 2,wherein the path of travel of the second vehicle is determined based atleast in part on a current steering angle of the second vehicle.
 7. Thevehicular control system of claim 1, wherein the vehicular controlsystem determines the potential collision between the first vehicle andthe second vehicle during a turning maneuver of the second vehicle. 8.The vehicular control system of claim 1, further comprising a cameradisposed at the first vehicle, wherein the first communication devicewirelessly transmits to the second communication device of the secondvehicle image data captured by the camera disposed at the first vehicle,and wherein determination of potential collision between the firstvehicle and the second vehicle is based at least in part on processingat the ECU of image data captured by the camera disposed at the firstvehicle that is wirelessly transmitted to the second communicationdevice of the second vehicle and provided to the ECU of the secondvehicle.
 9. The vehicular control system of claim 1, wherein the cameradisposed at the second vehicle comprises a forward viewing camera thatviews forward of the second vehicle.
 10. The vehicular control system ofclaim 1, wherein, responsive to determination of the potential collisionbetween the first vehicle and the second vehicle, the vehicular controlsystem controls braking of the second vehicle and steering of the secondvehicle.
 11. The vehicular control system of claim 1, wherein the firstand second communication devices comprise first and second dedicatedshort range communication (DSRC) devices.
 12. The vehicular controlsystem of claim 1, wherein the first and second communication devicescomprise first and second cellular network devices.
 13. A vehicularcontrol system, the vehicular control system comprising: a firstcommunication device disposed at a first vehicle, the firstcommunication device wirelessly transmitting data indicative of a pathof travel of the first vehicle; a second communication device disposedat a second vehicle, the second communication device receiving thewirelessly transmitted data from the first communication device; acamera disposed at the second vehicle and viewing exterior the secondvehicle, the camera operable to capture image data; an electroniccontrol unit (ECU) of the second vehicle, wherein the ECU comprises animage processor that processes image data capture by the camera; whereinthe vehicular control system determines a potential collision betweenthe first vehicle and the second vehicle based at least in part on atleast one selected from the group consisting of (i) a wirelesscommunication received at the second communication device of the secondvehicle from the first communication device of the first vehicle andprovided to the ECU of the second vehicle and (ii) processing at the ECUof image data captured by the camera disposed at the second vehicle;wherein the vehicular control system processes the data indicative ofthe path of travel of the first vehicle and processes data indicative ofa path of travel of the second vehicle to determine if the path oftravel of the first vehicle will intersect the path of travel of thesecond vehicle; and wherein, responsive to determination of thepotential collision between the first vehicle and the second vehicle,the vehicular control system controls at least one selected from thegroup consisting of (i) braking of the second vehicle and (ii) steeringof the second vehicle.
 14. The vehicular control system of claim 13,wherein the path of travel of the first vehicle is determined based atleast in part on a current steering angle of the first vehicle.
 15. Thevehicular control system of claim 13, wherein the path of travel of thesecond vehicle is determined based at least in part on a currentsteering angle of the second vehicle.
 16. The vehicular control systemof claim 13, wherein the vehicular control system determines thepotential collision between the first vehicle and the second vehicleduring a turning maneuver of the second vehicle.
 17. The vehicularcontrol system of claim 13, wherein the vehicular control systemdetermines the potential collision between the first vehicle and thesecond vehicle during a turning maneuver of the first vehicle.
 18. Thevehicular control system of claim 13, wherein the camera disposed at thesecond vehicle comprises a forward viewing camera that views forward ofthe second vehicle.
 19. A vehicular control system, the vehicularcontrol system comprising: a first communication device disposed at afirst vehicle, the first communication device wirelessly transmittingdata indicative of a path of travel of the first vehicle; a secondcommunication device disposed at a second vehicle, the secondcommunication device receiving the wirelessly transmitted data from thefirst communication device; wherein the second vehicle comprises a truckclassified in Class 7 or 8 of the U.S. Commercial Truck GVWRclassifications; a camera disposed at the second vehicle and viewingexterior the second vehicle, the camera operable to capture image data;an electronic control unit (ECU) of the second vehicle, wherein the ECUcomprises an image processor that processes image data capture by thecamera; wherein the vehicular control system determines a potentialcollision between the first vehicle and the second vehicle based atleast in part on at least one selected from the group consisting of (i)a wireless communication received at the second communication device ofthe second vehicle from the first communication device of the firstvehicle and provided to the ECU of the second vehicle and (ii)processing at the ECU of image data captured by the camera disposed atthe second vehicle; wherein the vehicular control system determines thepotential collision between the first vehicle and the second vehicleduring a turning maneuver of the second vehicle; and wherein, responsiveto determination of the potential collision between the first vehicleand the second vehicle, the vehicular control system controls at leastone selected from the group consisting of (i) braking of the secondvehicle and (ii) steering of the second vehicle.
 20. The vehicularcontrol system of claim 19, wherein the vehicular control systemprocesses the data indicative of the path of travel of the first vehicleand processes data indicative of a path of travel of the second vehicleto determine if the path of travel of the first vehicle will intersectthe path of travel of the second vehicle.
 21. The vehicular controlsystem of claim 20, wherein the path of travel of the first vehicle isdetermined based at least in part on a current steering angle of thefirst vehicle.
 22. The vehicular control system of claim 20, wherein thepath of travel of the second vehicle is determined based at least inpart on a current steering angle of the second vehicle.